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<a href="macros_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// g2o - General Graph Optimization</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">// All rights reserved.</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">// Redistribution and use in source and binary forms, with or without</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">// modification, are permitted provided that the following conditions are</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">// met:</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">// * Redistributions of source code must retain the above copyright notice,</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">//   this list of conditions and the following disclaimer.</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">// * Redistributions in binary form must reproduce the above copyright</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment">//   notice, this list of conditions and the following disclaimer in the</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">//   documentation and/or other materials provided with the distribution.</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment">// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS &quot;AS</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment">// IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment">// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment">// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment">// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment">// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment">// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment">// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment">// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment">// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment">// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor">#ifndef G2O_MACROS_H</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="preprocessor">#define G2O_MACROS_H</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="preprocessor">#ifndef DEG2RAD</span></div><div class="line"><a name="l00031"></a><span class="lineno"><a class="line" href="macros_8h.html#a2b4f9c3a8b58ecc8e9a6cda26417ba00">   31</a></span>&#160;<span class="preprocessor">#define DEG2RAD(x) ((x) * 0.01745329251994329575)</span></div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="preprocessor">#ifndef RAD2DEG</span></div><div class="line"><a name="l00035"></a><span class="lineno"><a class="line" href="macros_8h.html#af93ab8e29004f71549e1cd50278c5473">   35</a></span>&#160;<span class="preprocessor">#define RAD2DEG(x) ((x) * 57.29577951308232087721)</span></div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment">// GCC the one and only</span></div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#if defined(__GNUC__)</span></div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#  define G2O_ATTRIBUTE_CONSTRUCTOR(func) \</span></div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">     static void func(void)__attribute__ ((constructor)); \</span></div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">     static void func(void)</span></div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#  define G2O_ATTRIBUTE_UNUSED __attribute__((unused))</span></div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#  define G2O_ATTRIBUTE_FORMAT12 __attribute__ ((format (printf, 1, 2)))</span></div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#  define G2O_ATTRIBUTE_FORMAT23 __attribute__ ((format (printf, 2, 3)))</span></div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#  define G2O_ATTRIBUTE_WARNING(func) func __attribute__((warning))</span></div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#  define G2O_ATTRIBUTE_DEPRECATED(func) func __attribute__((deprecated))</span></div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="preprocessor">#ifdef ANDROID</span></div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="preprocessor"># define g2o_isnan(x)     isnan(x)</span></div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="preprocessor"># define g2o_isinf(x)     isinf(x)</span></div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="preprocessor"># define g2o_isfinite(x)  isfinite(x)</span></div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;<span class="preprocessor">#else</span></div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;<span class="preprocessor"># define g2o_isnan(x)     std::isnan(x)</span></div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;<span class="preprocessor"># define g2o_isinf(x)     std::isinf(x)</span></div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="preprocessor"># define g2o_isfinite(x)  std::isfinite(x)</span></div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;<span class="comment">// MSVC on Windows</span></div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;<span class="preprocessor">#elif defined _MSC_VER</span></div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;<span class="preprocessor">#  define __PRETTY_FUNCTION__ __FUNCTION__</span></div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;<span class="preprocessor">#  define G2O_ATTRIBUTE_CONSTRUCTOR(f) \</span></div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;<span class="preprocessor">     __pragma(section(&quot;.CRT$XCU&quot;,read)) \</span></div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;<span class="preprocessor">     static void __cdecl f(void); \</span></div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;<span class="preprocessor">     __declspec(allocate(&quot;.CRT$XCU&quot;)) void (__cdecl*f##_)(void) = f; \</span></div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;<span class="preprocessor">     static void __cdecl f(void)</span></div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;<span class="preprocessor">#  define G2O_ATTRIBUTE_UNUSED</span></div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;<span class="preprocessor">#  define G2O_ATTRIBUTE_FORMAT12</span></div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;<span class="preprocessor">#  define G2O_ATTRIBUTE_FORMAT23</span></div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;<span class="preprocessor">#  define G2O_ATTRIBUTE_WARNING(func) func</span></div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;<span class="preprocessor">#  define G2O_ATTRIBUTE_DEPRECATED(func) func</span></div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;<span class="preprocessor">#include &lt;float.h&gt;</span></div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;<span class="preprocessor"># define g2o_isnan(x)    _isnan(x)</span></div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;<span class="preprocessor"># define g2o_isinf(x)    (_finite(x) == 0)</span></div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;<span class="preprocessor"># define g2o_isfinite(x) (_finite(x) != 0)</span></div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;<span class="comment">// unknown compiler</span></div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;<span class="preprocessor">#else</span></div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;<span class="preprocessor">#  ifndef __PRETTY_FUNCTION__</span></div><div class="line"><a name="l00095"></a><span class="lineno"><a class="line" href="macros_8h.html#a9c15fe1e91b07ea3280f5239f9841b67">   95</a></span>&#160;<span class="preprocessor">#    define __PRETTY_FUNCTION__ &quot;&quot;</span></div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;<span class="preprocessor">#  endif</span></div><div class="line"><a name="l00097"></a><span class="lineno"><a class="line" href="macros_8h.html#afe0b28d021d8c105d2dd969276f4610a">   97</a></span>&#160;<span class="preprocessor">#  define G2O_ATTRIBUTE_CONSTRUCTOR(func) func</span></div><div class="line"><a name="l00098"></a><span class="lineno"><a class="line" href="macros_8h.html#a148e6c5d6da8a950d703a3f0573c2f54">   98</a></span>&#160;<span class="preprocessor">#  define G2O_ATTRIBUTE_UNUSED</span></div><div class="line"><a name="l00099"></a><span class="lineno"><a class="line" href="macros_8h.html#a053aa988e1d5f059ce90eb7c185e0058">   99</a></span>&#160;<span class="preprocessor">#  define G2O_ATTRIBUTE_FORMAT12</span></div><div class="line"><a name="l00100"></a><span class="lineno"><a class="line" href="macros_8h.html#af446712aac1f524edbeff60bc0078e97">  100</a></span>&#160;<span class="preprocessor">#  define G2O_ATTRIBUTE_FORMAT23</span></div><div class="line"><a name="l00101"></a><span class="lineno"><a class="line" href="macros_8h.html#ad26f9c697c3a6efe8eb0277b34fa2532">  101</a></span>&#160;<span class="preprocessor">#  define G2O_ATTRIBUTE_WARNING(func) func</span></div><div class="line"><a name="l00102"></a><span class="lineno"><a class="line" href="macros_8h.html#aec1ec1c1e0488c850a48749d4dc7c46b">  102</a></span>&#160;<span class="preprocessor">#  define G2O_ATTRIBUTE_DEPRECATED(func) func</span></div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;<span class="preprocessor">#include &lt;math.h&gt;</span></div><div class="line"><a name="l00105"></a><span class="lineno"><a class="line" href="macros_8h.html#a6e68a96bd391c3e6f2d10325713c17f3">  105</a></span>&#160;<span class="preprocessor">#define g2o_isnan(x)    isnan(x)</span></div><div class="line"><a name="l00106"></a><span class="lineno"><a class="line" href="macros_8h.html#adf95fee8a2dc7175cf0998a6a9c16c28">  106</a></span>&#160;<span class="preprocessor">#define g2o_isinf(x)    isinf(x)</span></div><div class="line"><a name="l00107"></a><span class="lineno"><a class="line" href="macros_8h.html#a13ed8e2673f6ab9bf2fc6a9678dfc196">  107</a></span>&#160;<span class="preprocessor">#define g2o_isfinite(x) isfinite(x)</span></div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;<span class="comment">// some macros that are only useful for c++</span></div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;<span class="preprocessor">#ifdef __cplusplus</span></div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;<span class="preprocessor">#define G2O_FSKIP_LINE(f) \</span></div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;<span class="preprocessor">   {char c=&#39; &#39;;while(c != &#39;\n&#39; &amp;&amp; f.good() &amp;&amp; !(f).eof()) (f).get(c);}</span></div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;<span class="preprocessor">#ifndef PVAR</span></div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;<span class="preprocessor">  #define PVAR(s) \</span></div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;<span class="preprocessor">    #s &lt;&lt; &quot; = &quot; &lt;&lt; (s) &lt;&lt; std::flush</span></div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;<span class="preprocessor">#ifndef PVARA</span></div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;<span class="preprocessor">#define PVARA(s) \</span></div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;<span class="preprocessor">  #s &lt;&lt; &quot; = &quot; &lt;&lt; RAD2DEG(s) &lt;&lt; &quot;deg&quot; &lt;&lt; std::flush</span></div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;<span class="preprocessor">#ifndef FIXED</span></div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;<span class="preprocessor">#define FIXED(s) \</span></div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;<span class="preprocessor">  std::fixed &lt;&lt; s &lt;&lt; std::resetiosflags(std::ios_base::fixed)</span></div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;</div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;<span class="preprocessor">#endif // __cplusplus</span></div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;<span class="preprocessor">#endif</span></div></div><!-- fragment --></div><!-- contents -->
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